相关论文: Self-Supervised Learning of Visual Robot Localizat…

In recent visual self-supervision works, an imitated classification objective, called pretext task, is established by assigning labels to transformed or augmented input images. The goal of pretext can be predicting what transformations are…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Retrieving relevant multimedia content is one of the main problems in a world that is increasingly data-driven. With the proliferation of drones, high quality aerial footage is now available to a wide audience for the first time.…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

Understanding motion in dynamic environments is critical for autonomous driving, thereby motivating research on class-agnostic motion prediction. In this work, we investigate weakly and self-supervised class-agnostic motion prediction from…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

Understanding visual inputs for a given task amidst varied changes is a key challenge posed by visual reinforcement learning agents. We propose \textit{Value Explicit Pretraining} (VEP), a method that learns generalizable representations…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

We present SelfPrompt, a novel prompt-tuning approach for vision-language models (VLMs) in a semi-supervised learning setup. Existing methods for tuning VLMs in semi-supervised setups struggle with the negative impact of the miscalibrated…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

We investigate the utility of in-domain self-supervised pre-training of vision models in the analysis of remote sensing imagery. Self-supervised learning (SSL) has emerged as a promising approach for remote sensing image classification due…

This paper introduces self-taught object localization, a novel approach that leverages deep convolutional networks trained for whole-image recognition to localize objects in images without additional human supervision, i.e., without using…

Supervised learning in large discriminative models is a mainstay for modern computer vision. Such an approach necessitates investing in large-scale human-annotated datasets for achieving state-of-the-art results. In turn, the efficacy of…

Semi-supervised learning techniques are gaining popularity due to their capability of building models that are effective, even when scarce amounts of labeled data are available. In this paper, we present a framework and specific tasks for…

We address the problem of video representation learning without human-annotated labels. While previous efforts address the problem by designing novel self-supervised tasks using video data, the learned features are merely on a…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

In this paper, we investigate self-supervised pre-training methods for document text recognition. Nowadays, large unlabeled datasets can be collected for many research tasks, including text recognition, but it is costly to annotate them.…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Compared to supervised deep learning, self-supervision provides remote sensing a tool to reduce the amount of exact, human-crafted geospatial annotations. While image-level information for unsupervised pretraining efficiently works for…

Procedural video representation learning is an active research area where the objective is to learn an agent which can anticipate and forecast the future given the present video input, typically in conjunction with textual annotations.…